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Merge pull request #739 from Mitchlol/lfoc_v4
Add Little FOCer v4
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| /* | ||
| Copyright 2012-2016 Benjamin Vedder [email protected] | ||
| This program is free software: you can redistribute it and/or modify | ||
| it under the terms of the GNU General Public License as published by | ||
| the Free Software Foundation, either version 3 of the License, or | ||
| (at your option) any later version. | ||
| This program is distributed in the hope that it will be useful, | ||
| but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| GNU General Public License for more details. | ||
| You should have received a copy of the GNU General Public License | ||
| along with this program. If not, see <http://www.gnu.org/licenses/>. | ||
| */ | ||
|
|
||
| #include "hw.h" | ||
|
|
||
| #include "ch.h" | ||
| #include "hal.h" | ||
| #include "stm32f4xx_conf.h" | ||
| #include "utils.h" | ||
| #ifdef HW_HAS_DRV8323S | ||
| #include "drv8323s.h" | ||
| #endif | ||
| #include "terminal.h" | ||
| #include "commands.h" | ||
| #include "mc_interface.h" | ||
|
|
||
| // Variables | ||
| static volatile bool i2c_running = false; | ||
| static mutex_t shutdown_mutex; | ||
| static bool shutdown_pressed = false; | ||
| static int shutdown_pressed_time = 0; | ||
|
|
||
| // I2C configuration | ||
| static const I2CConfig i2cfg = { | ||
| OPMODE_I2C, | ||
| 100000, | ||
| STD_DUTY_CYCLE | ||
| }; | ||
|
|
||
|
|
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| void hw_init_gpio(void) { | ||
| // GPIO clock enable | ||
| RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE); | ||
| RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE); | ||
| RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE); | ||
| RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE); | ||
|
|
||
| // LEDs | ||
| palSetPadMode(GPIOB, 0, | ||
| PAL_MODE_OUTPUT_PUSHPULL | | ||
| PAL_STM32_OSPEED_HIGHEST); | ||
| palSetPadMode(GPIOB, 1, | ||
| PAL_MODE_OUTPUT_PUSHPULL | | ||
| PAL_STM32_OSPEED_HIGHEST); | ||
|
|
||
| // ENABLE_GATE | ||
| palSetPadMode(GPIOB, 5, | ||
| PAL_MODE_OUTPUT_PUSHPULL | | ||
| PAL_STM32_OSPEED_HIGHEST); | ||
|
|
||
| // Disable DCCAL | ||
| palSetPadMode(GPIOD, 2, | ||
| PAL_MODE_OUTPUT_PUSHPULL | | ||
| PAL_STM32_OSPEED_HIGHEST); | ||
| palClearPad(GPIOD, 2); | ||
|
|
||
| ENABLE_GATE(); | ||
|
|
||
| // GPIOA Configuration: Channel 1 to 3 as alternate function push-pull | ||
| palSetPadMode(GPIOA, 8, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | | ||
| PAL_STM32_OSPEED_HIGHEST | | ||
| PAL_STM32_PUDR_FLOATING); | ||
| palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | | ||
| PAL_STM32_OSPEED_HIGHEST | | ||
| PAL_STM32_PUDR_FLOATING); | ||
| palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | | ||
| PAL_STM32_OSPEED_HIGHEST | | ||
| PAL_STM32_PUDR_FLOATING); | ||
|
|
||
| palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | | ||
| PAL_STM32_OSPEED_HIGHEST | | ||
| PAL_STM32_PUDR_FLOATING); | ||
| palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | | ||
| PAL_STM32_OSPEED_HIGHEST | | ||
| PAL_STM32_PUDR_FLOATING); | ||
| palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | | ||
| PAL_STM32_OSPEED_HIGHEST | | ||
| PAL_STM32_PUDR_FLOATING); | ||
|
|
||
| // Hall sensors | ||
| palSetPadMode(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, PAL_MODE_INPUT_PULLUP); | ||
| palSetPadMode(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, PAL_MODE_INPUT_PULLUP); | ||
| palSetPadMode(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3, PAL_MODE_INPUT_PULLUP); | ||
|
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||
| #ifdef HW_HAS_PHASE_FILTERS | ||
| // Phase filters | ||
| palSetPadMode(PHASE_FILTER_GPIO, PHASE_FILTER_PIN, | ||
| PAL_MODE_OUTPUT_PUSHPULL | | ||
| PAL_STM32_OSPEED_HIGHEST); | ||
| PHASE_FILTER_OFF(); | ||
| #endif | ||
|
|
||
| // Fault pin | ||
| palSetPadMode(GPIOB, 7, PAL_MODE_INPUT_PULLUP); | ||
|
|
||
| // ADC Pins | ||
| palSetPadMode(GPIOA, 0, PAL_MODE_INPUT_ANALOG); | ||
| palSetPadMode(GPIOA, 1, PAL_MODE_INPUT_ANALOG); | ||
| palSetPadMode(GPIOA, 2, PAL_MODE_INPUT_ANALOG); | ||
| palSetPadMode(GPIOA, 3, PAL_MODE_INPUT_ANALOG); | ||
| palSetPadMode(GPIOA, 5, PAL_MODE_INPUT_ANALOG); | ||
| palSetPadMode(GPIOA, 6, PAL_MODE_INPUT_ANALOG); | ||
|
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||
| palSetPadMode(GPIOC, 0, PAL_MODE_INPUT_ANALOG); | ||
| palSetPadMode(GPIOC, 1, PAL_MODE_INPUT_ANALOG); | ||
| palSetPadMode(GPIOC, 2, PAL_MODE_INPUT_ANALOG); | ||
| palSetPadMode(GPIOC, 3, PAL_MODE_INPUT_ANALOG); | ||
| palSetPadMode(GPIOC, 4, PAL_MODE_INPUT_ANALOG); | ||
|
|
||
| // Shutdown | ||
| chMtxObjectInit(&shutdown_mutex); | ||
| palSetPadMode(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN, PAL_MODE_OUTPUT_PUSHPULL); | ||
| palSetPadMode(HW_SHUTDOWN_SENSE_GPIO, HW_SHUTDOWN_SENSE_PIN, PAL_MODE_INPUT_PULLDOWN); | ||
|
|
||
| #ifdef HW_HAS_DRV8323S | ||
| drv8323s_init(); | ||
| #endif | ||
| } | ||
|
|
||
| void hw_setup_adc_channels(void) { | ||
| // ADC1 regular channels | ||
| ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_15Cycles); | ||
| ADC_RegularChannelConfig(ADC1, ADC_Channel_10, 2, ADC_SampleTime_15Cycles); | ||
| ADC_RegularChannelConfig(ADC1, ADC_Channel_5, 3, ADC_SampleTime_15Cycles); | ||
| ADC_RegularChannelConfig(ADC1, ADC_Channel_14, 4, ADC_SampleTime_15Cycles); | ||
| ADC_RegularChannelConfig(ADC1, ADC_Channel_Vrefint, 5, ADC_SampleTime_15Cycles); | ||
|
|
||
| // ADC2 regular channels | ||
| ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 1, ADC_SampleTime_15Cycles); | ||
| ADC_RegularChannelConfig(ADC2, ADC_Channel_11, 2, ADC_SampleTime_15Cycles); | ||
| ADC_RegularChannelConfig(ADC2, ADC_Channel_6, 3, ADC_SampleTime_15Cycles); | ||
| ADC_RegularChannelConfig(ADC2, ADC_Channel_15, 4, ADC_SampleTime_15Cycles); | ||
| ADC_RegularChannelConfig(ADC2, ADC_Channel_0, 5, ADC_SampleTime_15Cycles); | ||
|
|
||
| // ADC3 regular channels | ||
| ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 1, ADC_SampleTime_15Cycles); | ||
| ADC_RegularChannelConfig(ADC3, ADC_Channel_12, 2, ADC_SampleTime_15Cycles); | ||
| ADC_RegularChannelConfig(ADC3, ADC_Channel_3, 3, ADC_SampleTime_15Cycles); | ||
| ADC_RegularChannelConfig(ADC3, ADC_Channel_13, 4, ADC_SampleTime_15Cycles); | ||
| ADC_RegularChannelConfig(ADC3, ADC_Channel_1, 5, ADC_SampleTime_15Cycles); | ||
|
|
||
| // Injected channels | ||
| ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 1, ADC_SampleTime_15Cycles); | ||
| ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 1, ADC_SampleTime_15Cycles); | ||
| ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 1, ADC_SampleTime_15Cycles); | ||
| ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 2, ADC_SampleTime_15Cycles); | ||
| ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 2, ADC_SampleTime_15Cycles); | ||
| ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 2, ADC_SampleTime_15Cycles); | ||
| ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 3, ADC_SampleTime_15Cycles); | ||
| ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 3, ADC_SampleTime_15Cycles); | ||
| ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 3, ADC_SampleTime_15Cycles); | ||
| } | ||
|
|
||
| void hw_start_i2c(void) { | ||
| i2cAcquireBus(&HW_I2C_DEV); | ||
|
|
||
| if (!i2c_running) { | ||
| palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN, | ||
| PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) | | ||
| PAL_STM32_OTYPE_OPENDRAIN | | ||
| PAL_STM32_OSPEED_MID1 | | ||
| PAL_STM32_PUDR_PULLUP); | ||
| palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN, | ||
| PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) | | ||
| PAL_STM32_OTYPE_OPENDRAIN | | ||
| PAL_STM32_OSPEED_MID1 | | ||
| PAL_STM32_PUDR_PULLUP); | ||
|
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| i2cStart(&HW_I2C_DEV, &i2cfg); | ||
| i2c_running = true; | ||
| } | ||
|
|
||
| i2cReleaseBus(&HW_I2C_DEV); | ||
| } | ||
|
|
||
| void hw_stop_i2c(void) { | ||
| i2cAcquireBus(&HW_I2C_DEV); | ||
|
|
||
| if (i2c_running) { | ||
| palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN, PAL_MODE_INPUT); | ||
| palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN, PAL_MODE_INPUT); | ||
|
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| i2cStop(&HW_I2C_DEV); | ||
| i2c_running = false; | ||
|
|
||
| } | ||
|
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| i2cReleaseBus(&HW_I2C_DEV); | ||
| } | ||
|
|
||
| /** | ||
| * Try to restore the i2c bus | ||
| */ | ||
| void hw_try_restore_i2c(void) { | ||
| if (i2c_running) { | ||
| i2cAcquireBus(&HW_I2C_DEV); | ||
|
|
||
| palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN, | ||
| PAL_STM32_OTYPE_OPENDRAIN | | ||
| PAL_STM32_OSPEED_MID1 | | ||
| PAL_STM32_PUDR_PULLUP); | ||
|
|
||
| palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN, | ||
| PAL_STM32_OTYPE_OPENDRAIN | | ||
| PAL_STM32_OSPEED_MID1 | | ||
| PAL_STM32_PUDR_PULLUP); | ||
|
|
||
| palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN); | ||
| palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN); | ||
|
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| chThdSleep(1); | ||
|
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||
| for(int i = 0;i < 16;i++) { | ||
| palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN); | ||
| chThdSleep(1); | ||
| palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN); | ||
| chThdSleep(1); | ||
| } | ||
|
|
||
| // Generate start then stop condition | ||
| palClearPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN); | ||
| chThdSleep(1); | ||
| palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN); | ||
| chThdSleep(1); | ||
| palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN); | ||
| chThdSleep(1); | ||
| palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN); | ||
|
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||
| palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN, | ||
| PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) | | ||
| PAL_STM32_OTYPE_OPENDRAIN | | ||
| PAL_STM32_OSPEED_MID1 | | ||
| PAL_STM32_PUDR_PULLUP); | ||
|
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| palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN, | ||
| PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) | | ||
| PAL_STM32_OTYPE_OPENDRAIN | | ||
| PAL_STM32_OSPEED_MID1 | | ||
| PAL_STM32_PUDR_PULLUP); | ||
|
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| HW_I2C_DEV.state = I2C_STOP; | ||
| i2cStart(&HW_I2C_DEV, &i2cfg); | ||
|
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| i2cReleaseBus(&HW_I2C_DEV); | ||
| } | ||
| } | ||
|
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| bool hw_sample_shutdown_button(void) { | ||
|
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| chMtxLock(&shutdown_mutex); | ||
| shutdown_pressed = palReadPad(HW_SHUTDOWN_SENSE_GPIO, HW_SHUTDOWN_SENSE_PIN) == PAL_HIGH; | ||
| chMtxUnlock(&shutdown_mutex); | ||
| if(shutdown_pressed){ | ||
| shutdown_pressed_time += 10; | ||
| return true; | ||
| }else{ | ||
| if(shutdown_pressed_time > 1000){ | ||
| shutdown_pressed_time = 0; | ||
| return false; | ||
| }else{ | ||
| shutdown_pressed_time = 0; | ||
| return true; | ||
| } | ||
| } | ||
| } |
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